WO2018205902A1 - Procédé et appareil de commande de stabilisation d'image - Google Patents

Procédé et appareil de commande de stabilisation d'image Download PDF

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Publication number
WO2018205902A1
WO2018205902A1 PCT/CN2018/085859 CN2018085859W WO2018205902A1 WO 2018205902 A1 WO2018205902 A1 WO 2018205902A1 CN 2018085859 W CN2018085859 W CN 2018085859W WO 2018205902 A1 WO2018205902 A1 WO 2018205902A1
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WIPO (PCT)
Prior art keywords
current
coordinate value
lens group
focus coordinate
factor
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PCT/CN2018/085859
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English (en)
Chinese (zh)
Inventor
王欢
尤灿
马伟民
Original Assignee
杭州海康威视数字技术股份有限公司
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Publication of WO2018205902A1 publication Critical patent/WO2018205902A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction

Definitions

  • the present application relates to the field of monitoring, and in particular, to an anti-shake control method and apparatus.
  • the surveillance camera may be shaken during the shooting process due to the influence of its environment. For example, when a vehicle passes through the bridge, the surveillance camera mounted on the bridge may be shaken. Become blurred.
  • the embodiment of the present application provides an anti-shake control method and apparatus for effectively eliminating the influence of jitter on a captured image.
  • the technical solution is as follows:
  • an anti-shake control method comprising:
  • the optical anti-shake lens group including at least one optical anti-shake lens, the optical anti-shake lens
  • Each type of optical image stabilization lens in the group is a concave lens or a convex lens, or the type of optical image stabilization lens in the optical image stabilization lens group includes a concave lens and a convex lens.
  • an anti-shake control device comprising:
  • a determining module configured to determine a jitter angle and a jitter direction of the camera device when detecting that the camera device is shaken
  • a calculation module configured to calculate a current image stabilization degree of the image capturing device according to a current magnification of the image capturing device and a current focus coordinate value
  • a first control module configured to control movement of the optical anti-shake lens group according to the image stabilization sensitivity, the shaking angle, the current magnification, and the shaking direction, wherein the optical anti-shake lens group includes at least one optical anti-shake lens
  • the type of the optical image stabilization lens in the optical anti-shake lens group is a concave lens or a convex lens, or the type of the optical image stabilization lens in the optical image stabilization lens group includes a concave lens and a convex lens.
  • an anti-shake control device comprising:
  • At least one processor At least one processor
  • At least one memory At least one memory
  • the at least one memory stores one or more programs, the one or more programs configured to be executed by the at least one processor, the one or more programs comprising for performing the first aspect or the first aspect An instruction in any of the optional methods.
  • a non-transitory computer readable storage medium for storing a computer program, the computer program being loaded by a processor to perform the first aspect or any of the optional methods of the first aspect Instructions.
  • the current image stabilization sensitivity of the imaging device is affected by its current magnification and the focus coordinate value. Therefore, the image stabilization sensitivity of the imaging device is calculated according to the current magnification of the imaging device and the current focus coordinate value, thereby improving the accuracy of the calculated image stabilization sensitivity.
  • the OIS lens group movement is controlled according to the image stabilization sensitivity, the shake angle, the current magnification, and the shake direction, so that the influence of the shake on the captured image can be effectively eliminated.
  • FIG. 1A is a schematic structural diagram of an image pickup apparatus provided in an embodiment of the present application.
  • 1B is a flowchart of an anti-shake control method provided in an embodiment of the present application.
  • Figure 3 is a schematic diagram of a curve provided in an embodiment of the present application.
  • FIG. 4 is a schematic diagram of controlling movement of an OIS lens group in one embodiment of the present application.
  • Figure 5 is a schematic view of an OIS lens set provided in an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a compensation control force provided in an embodiment of the present application.
  • FIG. 7 is a flow chart of a PT motion method provided in an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an anti-shake control apparatus provided in an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of an apparatus provided in an embodiment of the present application.
  • the "camera device” as used herein may include a smart phone, a tablet computer, a smart TV, an e-book reader, a laptop portable computer, a desktop computer, a surveillance camera, a video camera, a camera, and the like.
  • a zoom lens 11, an OIS lens group 12, and a focal plane 13 are disposed in the image pickup apparatus.
  • the OIS lens group 12 is generally in an initial position, and when the OIS lens group 12 is in the initial position, the central optical axis of the OIS lens group 12 and the central optical axis of the zoom lens 11 are on the same line.
  • OIS is an abbreviation of "Optical Image Stabilization", which is commonly known as optical image stabilization in the industry.
  • the imaging apparatus changes the focal length of the captured image through the zoom lens 11 before shooting.
  • light taken by the image pickup apparatus can be projected onto the focal plane 13 through the zoom lens 11 and the OIS lens group 12, and an image is formed on the focal plane 13.
  • the imaging device can eliminate the effect of jitter on the captured image through the OIS lens group 12.
  • Anti-shake When the camera detects that it is shaking, it controls the OIS lens group 12 in the camera device to move in the opposite direction of the opposite direction of the dithering direction in the target plane to eliminate the influence of the blurring caused by the image blurring. .
  • the target plane is the plane passing through the OIS lens set and perpendicular to the central optical axis of the OIS lens set.
  • the OIS lens set includes at least one OIS lens, and each of the OIS lens groups is of a concave lens or a convex lens, or the type of OIS lens in the OIS lens group includes a concave lens and a convex lens.
  • the camera device When the camera device detects that it is shaking, it needs to calculate the moving distance D of the OIS lens group 12 in the shaking direction.
  • ⁇ is the angle of jitter when the imaging device is shaken
  • f is the focal length when the imaging device is shaken
  • the image stabilization sensitivity SR is the distance per unit of movement of the OIS lens group 12, and the intersection of the optical axis and the focal plane of the OIS lens group 12 is at the focal plane.
  • the unit distance can be a value of 1 mm, 2 mm or 3 mm.
  • FIG. 1B is a flowchart of an anti-shake control method provided by an embodiment of the present application, which is applied to an image pickup apparatus with variable focal length and/or variable focus coordinate value.
  • the anti-shake control method may include the following steps.
  • step 110 when it is detected that the imaging device is shaken, the jitter angle and the shaking direction of the camera device jitter are determined.
  • Step 120 Calculate the current image stabilization sensitivity of the imaging device according to the current magnification of the imaging device and the current focus coordinate value.
  • Step 130 controlling OIS lens group movement according to the image stabilization sensitivity, the shake angle, the current magnification and the shake direction, the OIS lens group includes at least one OIS lens, and each of the OIS lens groups is of a concave lens or a convex lens.
  • the types of OIS lenses in the OIS lens set include concave and convex lenses.
  • the moving distance of the OIS lens group may be calculated according to the image stabilization sensitivity, the shaking angle, and the current magnification; and the OIS lens group is controlled to move the moving distance in the opposite direction of the shaking direction on the target plane.
  • the current image stabilization sensitivity of the imaging device is affected by the current focal length and the focus coordinate value (the current magnification is the ratio of the current focal length to the minimum focal length, that is, stable).
  • the image sensitivity is affected by the current magnification and the focus coordinate value. Therefore, the image stabilization accuracy of the image pickup device can be calculated according to the current magnification of the image pickup device and the current focus coordinate value, so that the accuracy of the calculated image stabilization sensitivity can be improved, according to the image stabilization.
  • Sensitivity, jitter angle, current magnification and jitter direction control the OIS lens group movement, which can effectively eliminate the effect of jitter on the captured image.
  • FIG. 2 is a flowchart of an anti-shake control method provided by an embodiment of the present application, which is applied to an image pickup apparatus with variable focal length and/or variable focus coordinate value.
  • the anti-shake control method may include the following steps.
  • Step 210 Determine a jitter angle and a jitter direction of the camera device when detecting that the camera device is shaken.
  • a motion sensor may be disposed in the imaging device.
  • the motion sensor may detect motion information, the motion information is a vector, and then send the detected motion information to a microprocessor in the imaging device.
  • the microprocessor of the imaging device receives the motion information, and determines an angle and a direction of movement of the imaging device according to the motion information; when the angle is less than a predetermined angle, determining that the imaging device is shaken, determining a moving angle as The angle of jitter of the camera device jitter, and the direction in which the camera device is shaken according to the direction.
  • the motion sensor can be a gyroscope or an electronic compass.
  • the motion information may be an angular velocity detected by the gyroscope;
  • the motion information may be the magnetic information detected by the electronic compass.
  • the gyroscope when the imaging device is shaken, the gyroscope can detect the angular velocity of the gyroscope during the shaking process, and transmit the detected angular velocity to the microprocessor in the imaging device, which is described herein.
  • the angular velocity is a vector, including the velocity value of the angular velocity and the velocity direction.
  • the implementation of this step may be: when the microprocessor in the imaging device receives the angular velocity of the gyroscope feedback, calculate the angle and direction of the movement of the imaging device according to the angular velocity; when the angle is less than the predetermined angle, it is determined that the imaging device has occurred. Jitter, the angle of movement is determined as the angle of jitter of the camera device jitter, and the direction is determined as the direction in which the camera device shakes.
  • Step 220 Acquire a first object distance, a second object distance, a first focus coordinate value, and a second focus coordinate value according to the current magnification, the current focus coordinate value, and the first curve set, where the current focus coordinate value is located at the first focus coordinate value. And the second focus coordinate value.
  • the current magnification refers to the ratio between the current focal length of the imaging device and its minimum focal length.
  • the user sends an instruction to adjust the magnification to the imaging device, and the imaging device adjusts the focal length according to the magnification indicated by the instruction, and the ratio of the adjusted focal length to the minimum focal length is the magnification indicated by the instruction.
  • the microprocessor in the camera device After adjusting the focal length, the microprocessor in the camera device performs autofocus and continuously adjusts the focus coordinate value (English: focus), so that the object captured by the camera device can be clearly imaged, that is, a clear image is obtained. The microprocessor stops adjusting the focus coordinate value when it determines that the captured image is clear.
  • the current focal length and the minimum focal length of the imaging device may be acquired from the imaging device, and the current magnification of the imaging device is acquired according to the current focal length and the minimum focal length.
  • the current focus coordinate value is a focus coordinate value after the microprocessor stops adjusting.
  • the current focus coordinate value can be obtained from the microprocessor of the imaging device.
  • the instruction can carry the magnification indicated by the instruction.
  • the camera device changes the size of the object image in the captured picture by adjusting the focal length; after adjusting the focal length, the object image in the captured picture is focused by adjusting the focus coordinate value to make the object in the captured picture The image becomes clear.
  • the surveillance camera sends the captured image to the monitoring terminal (for example, a computer), and the monitoring personnel can view the image captured by the surveillance camera in real time on the monitoring terminal.
  • the monitoring personnel can use the monitoring terminal to send an instruction to increase the magnification to the monitoring camera, and the monitoring camera increases the focal length according to the instruction to achieve the magnification increase and auto focus.
  • a first curve set is stored in the camera device, the first curve set includes M colored light focusing curves, each colored light focusing curve corresponds to an object distance, a total of M object distances, and M is a preset integer value, for example, M may It is a value of 100, 90 or 80.
  • the object distance referred to herein refers to the distance between the object and the zoom lens in the image pickup apparatus, and may be the distance between the object and the outermost zoom lens in the image pickup apparatus.
  • the colored light focusing curve is a function of the magnification and the focus coordinate value, and the coordinate value of the point on each colored light focusing curve is composed of the magnification and the focus coordinate value.
  • the imaging device shoots the object whose object distance is the object distance corresponding to the colored light focusing curve. , able to capture clear images.
  • the illustration is based on the fact that only three colored light focusing curves are stored in the imaging device. In fact, the number of colored light focusing curves stored in the imaging device can be more.
  • the colored light focusing curve indicated by reference numeral 31 corresponds to the object distance of 20 m
  • the colored light focusing curve indicated by the reference numeral 32 corresponds to the object distance of 10 m
  • the colored light focusing curve indicated by the reference numeral 33 corresponds to the object. Distance 3m.
  • the colored light focusing curves indicated by reference numerals 31, 32, and 33 are referred to as colored light focusing focusing curves 31, 32, and 33, respectively.
  • the coordinate of the point 34 on the colored light focusing curve 33 includes the magnification z 1 , and the focus coordinate value is d 1 , indicating that the imaging device has the object distance when the magnification of the imaging device is z 1 and the focus coordinate value is d 1 .
  • the 3m target is shot and a clear image can be obtained.
  • the implementation of this step may be: calculating M focus coordinate values according to the current magnification and each colored light focus curve in the first curve set, selecting from the M focus coordinate values that are greater than or equal to the current focus coordinate value and current focus a first focus coordinate value closest to the coordinate value, selecting a second focus coordinate value that is less than or equal to the current focus coordinate value and closest to the current focus coordinate value from the M focus coordinate values; acquiring the current magnification and the first focus coordinate a first colored light focusing curve corresponding to the value and a second colored light focusing curve corresponding to the current magnification and the second focusing coordinate value; obtaining the first object distance and the second colored color corresponding to the first colored light focusing curve from the first curve set The second object distance corresponding to the light focusing curve.
  • the current magnification is z 1
  • the corresponding focus coordinate value of z 1 in the colored light focusing curve 33 is d 1
  • the focus coordinate value corresponding to the colored light focusing curve 32 of z 1 is d 2
  • the focus coordinate value corresponding to the colored light focusing curve 31 is d 4 . If the current focus coordinate value is d 3 and d 1 >d 3 >d 2 >d 4 , then d 1 is the first focus coordinate value, and d 2 is the second focus coordinate value.
  • the first object distance corresponding to the focus curve 33 is 3 m and the second object distance corresponding to the second colored light focusing curve 32 is 10 m.
  • the imaging device can clearly capture the object whose object distance from the zoom lens is equal to the first object distance when the focus coordinate value is the first focus coordinate value. And, the imaging device can clearly capture the object whose object distance from the zoom lens is equal to the second object distance when the focus coordinate value thereof is the second focus coordinate value. Since the imaging device can clearly capture the target of the current object distance under the current focus coordinate value, the first focus coordinate value is greater than or equal to the current focus coordinate value, and it can be inferred that the current object distance is greater than or equal to the first object distance; The focus coordinate value is less than or equal to the current focus coordinate value, and it can be inferred that the current object distance is less than or equal to the second object distance.
  • the first object distance obtained is 3 m and the second object distance is 10 m.
  • the current focus coordinate value d 3 ⁇ d 1 it can be seen that the current object distance is greater than or equal to the first object distance corresponding to the first colored light focus curve 33 by 3 m; the current focus coordinate value d 3 >d 2 , and the current object distance is less than or
  • the second object distance corresponding to the second colored light focusing curve 32 is 10 m, so that the current object distance can be inferred to be between 3 m and 10 m.
  • Step 230 Calculate the first factor and the second factor according to the current magnification, the first factor curve of the first object distance, and the second factor curve of the second object distance.
  • the camera device further stores a second curve set, where the second curve set includes a factor curve of the M object distances, and the factor curve is a function curve of the magnification and the factor.
  • the imaging device not only stores the colored light focusing curve corresponding to the object distance L m but also stores the object distance L m . Corresponding factor curve.
  • the factor is used to reflect the effect of the OIS lens group per unit distance of movement on the image frame offset in the case of different magnification and focus coordinate values.
  • the factor curve corresponding to the object distance L m can be obtained by the following operation flow:
  • Flow 1 Adjust the magnification of the imaging device to the maximum magnification z 0 , place the target (for example, a piece of white paper) at the outermost zoom lens L m of the imaging device, adjust the OIS lens group to the initial position, and capture the image.
  • the device automatically shoots a clear image p m11 , adjusts the OIS lens group to move a distance d, and takes a clear image p m12 again, and calculates the pixel point of the image p m12 and the image p m11 offset in the moving direction of the OIS lens group.
  • the quantity y 0 Adjust the magnification of the imaging device to the maximum magnification z 0 , place the target (for example, a piece of white paper) at the outermost zoom lens L m of the imaging device, adjust the OIS lens group to the initial position, and capture the image.
  • the device automatically shoots a clear image p m11 , adjusts the OIS lens group to move a distance d
  • the magnification of the camera device is adjusted by adjusting the focal length of the camera device.
  • the magnification of the imaging apparatus is also adjusted to the maximum magnification z 0 .
  • the direction of movement of the OIS lens set here is parallel to a lens in the OIS lens set and points upward.
  • the distance d can be a preset distance value or can be a random value.
  • Flow 2 Adjust the magnification of the camera to other magnifications z n , adjust the OIS lens group to the initial position, the camera device performs autofocus to capture a clear image p m21 , adjusts the OIS lens group to move a distance d, and shoots another
  • the image p m22 calculates the number y n of pixel points at which the image p m22 and the image p m21 are shifted in the moving direction of the OIS lens group.
  • the method of adjusting the magnification of the imaging device to other magnifications z n may be various.
  • other magnifications z n can be obtained by the imaging apparatus by reducing the focal length thereof; in implementation, the imaging apparatus can reduce its focal length by a preset value, or randomly reduce its focal length by a certain value to obtain other magnifications z n .
  • Process 4 The object distance determined plurality of points on the curve factor corresponding to L m, L m automatic product from a factor corresponding to the curve.
  • the imaging device also stores a virtual parameter T corresponding to each object distance, and the virtual parameter T satisfies the relationship in the imaging device.
  • f is the focal length of the imaging device
  • SR is the image stabilization sensitivity
  • m is a factor.
  • the virtual parameter is a parameter for indicating the effect of eliminating the jitter.
  • a dummy parameter T is set in the imaging apparatus and the imaging magnification is adjusted to the maximum apparatus z 0.
  • the imaging device is placed on the vibration table, and the imaging device is shaken by the vibration of the vibration table.
  • moving the OIS lens group in a direction opposite to the shaking direction on the target plane according to the calculated moving distance to eliminate the jitter, and acquiring an image captured by the imaging device, thus obtaining the set virtual parameter T corresponding to the set virtual parameter T image.
  • the parameter T is set to the virtual distance L m parameter corresponding to the virtual object images corresponding to T m.
  • the above virtual parameters can be set by a technician, and one image that eliminates the best jitter can also be selected by a technician.
  • step 230 can be implemented by the following sub-steps:
  • Step S1 Acquire a first factor curve corresponding to the first object distance from the second curve set, and determine a first factor corresponding to the current magnification in the first factor curve.
  • a first factor curve corresponding to the first object distance of 3 m (indicated by reference numeral 35) is obtained, and the first factor m 1 corresponding to the current magnification z 1 on the first factor curve is determined.
  • Step S2 Obtain a second factor curve corresponding to the second object distance from the second curve set, and determine a second factor corresponding to the current magnification in the second factor curve.
  • a second factor curve corresponding to the second object distance 10m (indicated by reference numeral 36) is obtained, and the second factor m 2 corresponding to the current magnification z 1 on the second factor curve is determined.
  • Step 240 Calculate a current image stabilization sensitivity of the imaging device according to the current magnification, the current focus coordinate value, the first focus coordinate value, the second focus coordinate value, the first factor, and the second factor.
  • This step can be implemented by the following three steps (1)-(3), respectively:
  • the third factor is represented by m 3
  • the third factor m 3 according to the first focus coordinate value d 1 , the second focus coordinate value d 2 , the current focus coordinate value d 3 , the first factor m 1 and the second factor m 2 .
  • the value of the third factor m 3 is calculated.
  • the first virtual parameter T m1 corresponding to the first object distance and the second virtual parameter T m2 corresponding to the second object distance are stored in the imaging device. Therefore, the first virtual parameter T m1 corresponding to the first object distance and the second virtual parameter T m2 corresponding to the second object distance can be directly obtained from the imaging device.
  • the third virtual parameter T m3 corresponding to the current object distance is calculated.
  • the image capturing of the target object of the current object distance has the best anti-shake effect.
  • the minimum focal length of the camera device can be obtained, and the current focal length f is calculated according to the current magnification and the minimum focal length, and the calculation formula is used.
  • the current image stabilization sensitivity SR of the imaging device is obtained.
  • Step 250 Calculate the moving distance of the optical anti-shake OIS lens group according to the current image stabilization sensitivity, the shake angle, and the current focal length.
  • the moving distance D of the OIS lens group can be calculated by the following formula.
  • ⁇ is the jitter angle at which the imaging device shakes when it is shaken
  • f is the current focal length when the imaging device is shaken.
  • Step 260 controlling the OIS lens group to move the moving distance in a direction opposite to the shaking direction on the target plane.
  • the direction of the jitter includes an upward jitter direction or a downward jitter direction.
  • the OIS lens group can be controlled to move the moving distance downward on the target plane.
  • the OIS lens group can be controlled to move the moving distance upward on the target plane.
  • the OIS lens group may be far away from the initial position, at which time the light that illuminates the edge of the focal plane is more than the light that illuminates the center of the focal plane. The distance is far away, so that the light that illuminates the edge of the focal plane is darker than the light that illuminates the center of the focal plane, which tends to cause vignetting around the image.
  • the imaging device determines whether the current position of the OIS lens group exceeds the position range of the OIS lens group during the movement of the OIS lens group, and if it is exceeded, stops moving the OIS lens group.
  • the foregoing operation of determining whether the current position of the OIS lens group exceeds the position range of the OIS lens group may be implemented by several steps shown in FIG. 4 .
  • Step 2601 obtaining a position range of the OIS lens group according to the current magnification.
  • the corresponding relationship between the range of the focal length and the position range is stored in advance in the imaging device.
  • the range of each focal length in the correspondence and the range of positions corresponding to the range of each focal length may be set by a technology developer.
  • the current focal length of the imaging device is calculated according to the current magnification, the range of the current focal length is determined, and the position range of the OIS lens group is obtained from the correspondence between the range of the focal length and the position range according to the range of the current focal length. .
  • a two-dimensional coordinate system is established inside the imaging device, wherein the direction of the coordinate axis x of the two-dimensional coordinate system is parallel to an OIS lens in the OSI lens group, and the origin is located on the optical center of the zoom lens.
  • Each of the range of positions described herein includes a first range of values of x and a second range of values of y.
  • the origin of the two-dimensional coordinate system is located at the optical center of the zoom lens, that is, the OIS lens group is at the origin when the OIS lens group is in the initial position, and the OIS lens group position here can be the center light of the OIS lens group.
  • the range of positions corresponding to the range of each focal length stored in the imaging device can be set in advance as follows:
  • the control OIS lens group moves in the negative direction of the coordinate axis x.
  • the coordinate value of the OIS lens group in the y-axis is always 0, and the position of the OIS lens group is determined on the coordinate axis x when the vignetting angle of the captured image is determined. Corresponding coordinate value x1.
  • the case where the image has a vignetting angle means that when there is at least one pixel in the pixel located at the edge of the image, the brightness of the pixel is lower than half of the brightness of the pixel located at the center of the image, and the image is considered to have a vignetting angle.
  • the pixel points at the edge of the image as referred to herein include other pixels than the pixels located at the center of the image.
  • the OIS lens group is controlled to move in the positive direction of the coordinate axis x, and at this time, the coordinate value of the OIS lens group in the y-axis is always 0, and the position of the OIS lens group corresponding to the coordinate axis x is determined when the vignetting angle of the captured image is determined.
  • the coordinate value x2, the coordinate value x of the coordinate value x is greater than x1 and less than x2, which can be expressed as (x1, x2).
  • the OIS lens group is controlled to move in the negative direction of the coordinate axis y, and at this time, the coordinate value of the OIS lens group on the x-axis is always 0, and the position of the OIS lens group corresponding to the coordinate axis y is determined when the vignetting angle of the captured image is determined.
  • Coordinate value y1 Then control the OIS lens group to move in the positive direction of the coordinate axis y, and at this time, the coordinate value of the OIS lens group on the x-axis is always 0, and determine the position of the OIS lens group on the coordinate axis y when the vignetting angle of the captured image is determined.
  • the coordinate value y2 when the vignetting angle is not obtained, the value range of y is greater than y1 and less than y2, which can be expressed as (y1, y2).
  • [H*x1, H*x2] is determined as the first range corresponding to the range of the focal length
  • [H*y1, H*y2] is determined as the second range corresponding to the range of the focal length.
  • H is the preset coefficient
  • * indicates the multiplication operation
  • [H*x1, H*x2] indicates the range greater than or equal to H*x1 and less than or equal to H*x2
  • [H*y1, H*y2] Represents a range greater than or equal to H*y1 and less than or equal to H*y2.
  • the value of the preset coefficient H may be a value of 0.9, 0.8, or 0.7. Assuming that the value of H is 0.8, the technician determines [0.8*x1, 0.8*x2] as the first range corresponding to the range of the focal length range, and [0.8*y1, 0.8*y2] is determined as the range corresponding to the focal length. The second range. The range of positions corresponding to the range of each of the other focal lengths in the image pickup apparatus can be obtained as described above.
  • Step 2602 in the process of controlling the movement of the OIS lens group, determine whether the current position of the OIS lens group exceeds the acquired position range, and if it is exceeded, stop continuing to move the OIS lens group.
  • the acquired range of positions includes a first range of x-axis coordinates and a second range of y-axis coordinates.
  • the implementation of this step may be: in the process of controlling the movement of the OIS lens group, real-time detecting whether the x-axis coordinate value of the current position of the OIS lens group exceeds the first range, and whether the y-axis coordinate value of the current position of the OIS lens group is Beyond the second range, when it is detected that the first range or the second range is exceeded, the continued movement of the OIS lens group is stopped.
  • the imaging device detects whether the range of the focal length of the imaging device changes every other frame time, and when it detects that the range of the camera device changes, step 2601 is performed.
  • control force for controlling the movement of the OIS lens group is adjusted according to the angle between the central optical axis of the OIS lens group and the direction of gravity.
  • the camera device includes a driving motor, and the driving motor is used to drive the OIS lens group to move, so according to the angle between the central optical axis of the OIS lens group and the gravity direction, the operating current of the driving motor is adjusted to achieve adjustment. Controlling the movement of the OIS lens set.
  • the above operation of adjusting the operating current can be implemented by several steps shown in FIG. 6.
  • Step 2603 obtaining an angle between an optical axis of the OIS lens group and a gravity direction.
  • Step 2604 determining the gravity component of the gravity of the OIS lens group on the target plane according to the gravity of the OIS lens group and the angle.
  • Step 2605 increasing or decreasing the operating current of the driving motor according to the gravity component and the shaking direction.
  • the drive motor Since the OIS lens group moves in the opposite direction of the shaking direction, the drive motor provides a control force for controlling the movement of the OIS lens group. Therefore, when the dithering direction is the upward dithering direction, the driving motor drives the OIS lens group to move downward. At this time, the operating current of the driving motor is reduced according to the gravity component G*sin ⁇ , so as to reduce the driving motor for providing the OIS lens group.
  • the control force of the movement when the direction of the shaking is the direction of the downward shaking, the driving motor drives the OIS lens group to move upward, and at this time, the operating current of the driving motor is increased according to the gravity component G*sin ⁇ to increase the driving motor for providing control. OIS lens group movement control.
  • ⁇ is the angle between the central optical axis of the OIS lens group and the direction of gravity
  • G is the gravity of the OIS lens group.
  • the camera device is usually installed on the pan/tilt, and the camera device can control the pan/tilt to rotate, thereby achieving the purpose of rotating the camera device and changing the shooting direction of the camera device.
  • the motion sensor of the camera device also detects the motion information, and sends the detected motion information to the microprocessor, and the microprocessor may erroneously detect that the camera device is shaken, in the opposite direction to the rotation of the camera device.
  • the direction of moving the OIS lens group caused a delay in its captured image.
  • the pan/tilt of the imaging device controls the rotation of the imaging device.
  • the steps 210 to 260 are performed, and when it is determined that the pan-tilt control camera device is rotated, the image is stopped. Perform the steps of 210 to 260 above.
  • the problem can be solved by performing several steps as shown in FIG.
  • Step 710 Receive a rotation instruction, the imaging device stops anti-shake, and the imaging device rotates through the pan-tilt according to the rotation instruction.
  • Stopping the anti-shake is to stop the flow of the embodiment shown in Fig. 2.
  • the monitoring personnel can send a rotation command to the camera device at the monitoring end, and the rotation command includes a rotation direction of the pan/tilt head and a rotation angle.
  • the imaging device turns off its anti-shake function. That is to say, in the process of controlling the rotation of the image pickup apparatus, even if the image pickup apparatus receives the angular velocity transmitted by the gyroscope, any one of steps 210 to 260 is not performed, but step 720 can be performed.
  • Step 720 controlling the OIS lens group to be relatively stationary within the imaging device, or controlling the OIS lens group to move to the initial position at a preset speed.
  • the camera device can provide the user with a first level and at least one second level.
  • the step of performing the control OIS lens group is relatively static in the imaging device; when the user selects the second level in advance At this step, the step of controlling the movement of the OIS lens group to the initial position at a preset speed is performed in this step, and the preset speed corresponds to the second level selected by the user.
  • the OIS lens group since the OIS lens group remains stationary, it can ensure that the image captured by the camera device has no delay, but the camera device is moved below the initial position after the movement, and if the camera device is up, If the camera shakes, the camera device will control the OIS lens group to continue to move downward, resulting in an increase in the distance of the OIS lens group from the initial position. At this time, the image captured by the camera device may have a vignetting angle, or, because the current position of the OIS lens group is exceeded.
  • the position range of the OIS lens group causes the OIS lens group not to move the distance D in the direction of the shake, and the problem of blurring of the captured image occurs.
  • the moving direction of the OIS lens group may be the same as the direction in which the imaging device rotates, which may easily cause delay of the captured image.
  • the larger the preset speed corresponding to the second level selected by the user the more obvious the delay effect.
  • it is possible to ensure that the distance of the OIS lens group from the initial position is reduced when the imaging apparatus stops moving, which reduces the possibility of occurrence of a vignetting angle or blurring of a captured image.
  • Step 730 after controlling the camera device to stop moving, waiting for a preset time, and turning on the anti-shake function.
  • the preset time is set by the system developer.
  • the pan/tilt may continue to rotate due to its motion inertia.
  • the camera device After controlling the camera device to stop moving, after waiting for the preset time, the camera device has stopped rotating, and the anti-shake function is turned on at this time, so that the camera device can detect the rotation when the camera device is rotated by the inertia.
  • the OIS lens group is controlled to move in the opposite direction of the rotation direction of the imaging device to avoid the problem of image delay.
  • the anti-shake control method because the current image stabilization sensitivity of the imaging device is affected by the current focal length and the current focus coordinate value, (the current magnification is the ratio of the current focal length to the minimum focal length, that is, It is said that the image stabilization sensitivity is affected by the current magnification and the current focus coordinate value. Therefore, the image stabilization sensitivity of the image pickup device is calculated according to the current magnification of the image pickup device and the current focus coordinate value, so that the calculated image stabilization sensitivity is accurate, and then according to the image stabilization image. Sensitivity, jitter angle, and current magnification calculate the moving distance of the OIS lens group, which improves the accuracy of the calculated moving distance, thereby effectively eliminating the influence of jitter on the captured image.
  • an embodiment of the present application provides an anti-shake control apparatus 800.
  • the apparatus 800 includes a determination module 801, a calculation module 802, and a first control module 803.
  • a determining module 801 configured to determine a jitter angle and a jitter direction of the camera device when detecting that the camera device is shaken;
  • the calculating module 802 is configured to calculate a current image stabilization degree of the image capturing device according to a current magnification of the image capturing device and a current focus coordinate value;
  • the first control module 803 is configured to control the movement of the optical anti-shake lens group according to the image stabilization sensitivity, the shaking angle, the current magnification, and the shaking direction, wherein the optical anti-shake lens group includes at least one optical image stabilization
  • each of the optical anti-shake lens groups is of a concave lens or a convex lens, or the type of the optical anti-shake lens in the optical anti-shake lens group includes a concave lens and a convex lens.
  • the first control module 803 includes:
  • a first calculating unit configured to calculate a moving distance of the optical anti-shake lens group according to the image stabilization sensitivity, the shaking angle, and the current magnification
  • control unit configured to control the optical anti-shake lens group to move the moving distance in a direction opposite to the shaking direction on a target plane, the target plane being through the optical anti-shake lens group and perpendicular to the optical The plane of the central optical axis of the anti-shake lens set.
  • the first calculating unit is configured to:
  • D is the moving distance
  • f is the current focal length
  • ⁇ is the shaking angle
  • SR is the image stabilization sensitivity
  • the imaging device stores a first curve set and a second curve set, where the first curve set includes a colored object focus curve of M object distances, and the second curve set includes the M items
  • the factor curve of the distance, M is an integer greater than one;
  • the colored light focusing curve of each object distance in the first curve set is a function curve of the magnification and the focus coordinate value
  • the factor curve of each object distance in the second curve set is a function of the magnification and the factor.
  • the calculating module 802 includes:
  • a first acquiring unit configured to acquire a first object distance, a second object distance, a first focus coordinate value, and a second focus coordinate value according to the current magnification, the current focus coordinate value, and the first curve set,
  • the current focus coordinate value is located between the first focus coordinate value and the second focus coordinate value;
  • a second calculating unit configured to calculate a first factor and a second factor according to the current magnification, a first factor curve of the first object distance, and a second factor curve of the second object distance;
  • a third calculating unit configured to calculate, according to the current magnification, the current focus coordinate value, the first focus coordinate value, the second focus coordinate value, the first factor, and the second factor The current image stabilization of the camera device.
  • the first acquiring unit is configured to:
  • the third calculating unit is configured to:
  • the first formula is: Where d 1 is the first focus coordinate value, d 2 is the second focus coordinate value, d 3 is the current focus coordinate value, m 1 is the first factor, m 2 is the second factor, and m 3 is the third factor;
  • T m1 is the first virtual parameter
  • T m2 is the second virtual parameter
  • T m3 is the third virtual parameter
  • the third formula is: Where f is the current focal length and SR is the image stabilization sensitivity.
  • the device 800 further includes:
  • a judging module configured to determine whether a current position of the optical anti-shake lens group exceeds a position range of the optical anti-shake lens group during control of movement of the optical anti-shake lens group, and if it is exceeded, stop moving The optical anti-shake lens set.
  • the device 800 further includes:
  • an acquiring module configured to acquire a position range of the optical anti-shake lens group according to the current magnification.
  • the determining module 801 is configured to:
  • the device 800 further includes:
  • a second control module configured to control the optical anti-shake lens group to be relatively stationary in the imaging device when determining that the pan-tilt controls the rotation of the imaging device, or to control the optical defense at a preset speed
  • the shake lens group moves to the initial position.
  • the device 800 further includes:
  • an adjusting module configured to adjust the movement of the optical anti-shake lens group according to an angle between a central optical axis of the optical anti-shake lens group and a gravity direction when controlling movement of the optical anti-shake lens group Control.
  • the imaging device includes a driving motor, and the driving motor is configured to drive the optical anti-shake lens group to move,
  • the adjusting module is configured to adjust an operating current of the driving motor according to an angle between a central optical axis of the optical anti-shake lens group and a gravity direction to implement adjustment for controlling the optical anti-shake lens group The control of movement.
  • the adjusting module includes:
  • a second acquiring unit configured to acquire an angle between a central optical axis of the optical anti-shake lens group and a gravity direction
  • a determining unit configured to determine a gravity component of the gravity in the target plane according to gravity of the optical anti-shake lens group and the included angle
  • an adjusting unit configured to increase or decrease an operating current of the driving motor according to the gravity component and the moving direction.
  • FIG. 9 is a block diagram of an apparatus 900 for anti-shake control, according to an exemplary embodiment.
  • the device 900 may be a smart phone, a tablet computer, a smart TV, an e-book reader, a laptop portable computer, a desktop computer, a surveillance camera, a video camera, a camera, and the like.
  • device 900 can include one or more of the following components: processing component 902, memory 904, power component 906, multimedia component 908, audio component 910, input/output (I/O) interface 912, sensor component 914, And a communication component 916.
  • Processing component 902 typically controls the overall operation of device 900, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 902 can include one or more processors 920 to execute instructions to perform all or part of the steps described above.
  • processing component 902 can include one or more modules to facilitate interaction between component 902 and other components.
  • processing component 902 can include a multimedia module to facilitate interaction between multimedia component 908 and processing component 902.
  • Memory 904 is configured to store various types of data to support operation at device 900. Examples of such data include instructions for any application or method operating on device 900, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 904 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk or Optical Disk.
  • Power component 906 provides power to various components of device 900.
  • Power component 906 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 900.
  • the multimedia component 908 includes a screen between the device 900 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor may sense not only the boundary of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 908 includes a front camera and/or a rear camera. When the device 900 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 910 is configured to output and/or input an audio signal.
  • audio component 910 includes a microphone (MIC) that is configured to receive an external audio signal when device 900 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 904 or transmitted via communication component 916.
  • the audio component 910 also includes a speaker for outputting an audio signal.
  • the I/O interface 912 provides an interface between the processing component 902 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 914 includes one or more sensors for providing device 900 with various aspects of status assessment.
  • sensor component 914 can detect an open/closed state of device 900, a relative positioning of components, such as the display and keypad of device 900, and sensor component 914 can also detect a change in position of one component of device 900 or device 900. The presence or absence of user contact with device 900, device 900 orientation or acceleration/deceleration, and temperature variation of device 900.
  • Sensor assembly 914 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor assembly 914 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 914 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 916 is configured to facilitate wired or wireless communication between device 900 and other devices.
  • the device 900 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 916 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component 916 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • device 900 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 904 comprising instructions executable by processor 920 of apparatus 900 to perform the above method.
  • the non-transitory computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • a non-transitory computer readable storage medium that, when executed by a processor of apparatus 900, enables apparatus 900 to perform an anti-shake control method.
  • the anti-shake control device provided in the above embodiment is only exemplified by the division of the above-mentioned functional modules. In actual applications, the functions may be allocated by different functional modules as needed. Upon completion, the internal structure of the device is divided into different functional modules to perform all or part of the functions described above.
  • the anti-shake control device and the anti-shake control method embodiment are provided in the same concept, and the specific implementation process is described in detail in the method embodiment, and details are not described herein again.
  • a person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium.
  • the storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)
  • Adjustment Of Camera Lenses (AREA)

Abstract

La présente invention concerne un procédé et un appareil de commande de stabilisation d'image, se rapportant au domaine de la surveillance. Le procédé comprend les étapes suivantes : lorsqu'il est détecté qu'un dispositif caméra est secoué, déterminer l'angle de secousse et la direction de secousse de la secousse du dispositif caméra ; en fonction du taux de grossissement actuel du dispositif caméra et des valeurs de coordonnées de mise au point actuelles, calculer la sensibilité de stabilisation d'image actuelle du dispositif caméra ; en fonction de la sensibilité de stabilisation d'image, de l'angle de secousse, du taux de grossissement actuel, et de la direction de secousse, commander le mouvement d'un groupe de lentilles de stabilisation d'image optique, le groupe de lentilles de stabilisation d'image optique comprenant au moins une lentille de stabilisation d'image optique, le type de chaque lentille de stabilisation d'image optique dans le groupe de lentilles de stabilisation d'image optique étant des lentilles concaves ou des lentilles convexes, ou le type des lentilles de stabilisation d'image optique dans le groupe de lentilles de stabilisation d'image optique étant des lentilles concaves et des lentilles convexes. La présente invention améliore la capacité du dispositif caméra à éliminer l'effet de la secousse sur des images capturées.
PCT/CN2018/085859 2017-05-09 2018-05-07 Procédé et appareil de commande de stabilisation d'image WO2018205902A1 (fr)

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